CN110120099A - Localization method, device, recognition and tracking system and computer-readable medium - Google Patents
Localization method, device, recognition and tracking system and computer-readable medium Download PDFInfo
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Abstract
The invention discloses a kind of localization method, device, recognition and tracking system and computer-readable mediums, belong to technical field of image processing.This method comprises: processor obtains the target image of the visual interactive device of image acquisition device, it include multiple non-coplanar target feature points in corresponding visual interactive device in target image；Obtain pixel coordinate of each target feature point in the corresponding image coordinate system of target image；The physical coordinates obtained according to the pixel coordinate of all target feature points and in advance, obtain the position between image collecting device and visual interactive device and rotation information, wherein, physical coordinates are the coordinate of the target feature point that obtains in advance in the corresponding physical coordinates system of visual interactive device.It just can determine that the positional relationship between image collecting device and visual interactive device, accuracy are higher by the position and rotation information.
Description
Technical field
The present invention relates to technical field of image processing, more particularly, to a kind of localization method, device, recognition and tracking system
System and computer-readable medium.
Background technique
In recent years, with the development of science and technology augmented reality (AR, Augmented Reality) and virtual reality (VR,
Virtual Reality) etc. technologies be increasingly becoming the hot spot studied both at home and abroad.By taking augmented reality as an example, augmented reality is logical
The information for crossing computer system offer increases the technology that perceive to real world of user, by the dummy object of computer generation,
Into real scene, Lai Zengqiang or modification to real world environments or indicate real world ring for scene or system prompt information superposition
The perception of the data in border.
In the interactive systems such as virtual reality system and augmented reality system, need to carry out recognition and tracking to target object.
Existing recognition and tracking method usually uses Magnetic Sensor, optical sensor, ultrasonic wave, inertial sensor, target object image
The modes such as processing are realized, but the method for these recognition and trackings, in general, the effect is unsatisfactory for recognition and tracking, such as Magnetic Sensor, light
Usually by environment large effect, inertial sensor is high to required precision for sensor, ultrasonic wave etc., is badly in need of one kind in the market
Completely new recognition and tracking method, to realize low cost, high-precision interaction, and to the processing of the image of target object as identification
The important technology of tracking is also required to a set of perfect effective solution method.
Summary of the invention
It is above-mentioned to improve the invention proposes a kind of localization method, device, recognition and tracking system and computer-readable medium
Defect.
In a first aspect, being applied to a recognition and tracking system, the system the embodiment of the invention provides a kind of localization method
Including image collecting device and with the visual interactive device of multiple characteristic points.The described method includes: obtaining described image acquisition
The target image with the visual interactive device of device acquisition, the interior target image includes in corresponding visual interactive device
Multiple coplanar target feature points；The target feature point in target image is obtained in the corresponding image coordinate system of the target image
Interior pixel coordinate；The target signature obtained according to the pixel coordinate of the target feature point in the target image and in advance
The corresponding physical coordinates of point, obtain the position between described image acquisition device and the visual interactive device and rotation information,
Wherein, the physical coordinates are the target feature point that obtains in advance in the corresponding physical coordinates system of the visual interactive device
Interior coordinate.
Second aspect, the embodiment of the invention also provides a kind of positioning device, applied to the processor of recognition and tracking system,
The system also includes image collecting device and with the visual interactive device of multiple characteristic points.Described device includes: first to obtain
Take unit, second acquisition unit and processing unit.First acquisition unit, for obtaining described in the acquisition of described image acquisition device
The target image of visual interactive device, the interior target image includes the multiple coplanar targets spies corresponded in visual interactive device
Sign point.Second acquisition unit, for obtaining the target feature point in target image in the corresponding image coordinate system of the target image
Interior pixel coordinate.Processing unit, for being obtained according to the pixel coordinate of the target feature point in the target image with preparatory
The corresponding physical coordinates of the target feature point, obtain the position between described image acquisition device and the visual interactive device
It sets and rotation information, wherein the physical coordinates are the target feature point that obtains in advance in the visual interactive device pair
The coordinate in physical coordinates system answered.
The third aspect the embodiment of the invention also provides a kind of recognition and tracking system, including image collecting device and has
The visual interactive device of multiple characteristic points, described image acquisition device are connect with a processor.Described image acquisition device is used for
The target image of the visual interactive device is acquired, includes multiple coplanar in corresponding visual interactive device in the target image
Target feature point.The processor is used for: obtaining the target of the visual interactive device of described image acquisition device acquisition
Image；Obtain pixel coordinate of the target feature point in target image in the corresponding image coordinate system of the target image；According to
The pixel coordinate of target feature point in the target image and the corresponding physical coordinates of the target feature point obtained in advance,
Obtain the position between described image acquisition device and the visual interactive device and rotation information, wherein the physical coordinates
The coordinate for being the target feature point that obtains in advance in the corresponding physical coordinates system of the visual interactive device.
Fourth aspect, the embodiment of the invention also provides a kind of computers of program code that can be performed with processor can
Medium is read, said program code makes the processor execute the above method.
Localization method, device, recognition and tracking system and computer-readable medium provided in an embodiment of the present invention, by obtaining
After getting the target image of the visual interactive device of image acquisition device, multiple targets in target image are determined
Characteristic point obtains pixel coordinate of each target feature point in the corresponding image coordinate system of target image, according to all described
The pixel coordinate and physical coordinates of target feature point obtain the position between described image acquisition device and the visual interactive device
Set and rotation information, as a result, by the position and rotation information just can determine image collecting device and visual interactive device it
Between positional relationship, accuracy is higher.
Other feature and advantage of the embodiment of the present invention will illustrate in subsequent specification, also, partly from specification
In become apparent, or by implement the embodiment of the present invention understand.The purpose of the embodiment of the present invention and other advantages can
It is achieved and obtained by structure specifically indicated in the written description, claims, and drawings.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those skilled in the art, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 shows the structural schematic diagram of recognition and tracking system provided in an embodiment of the present invention；
Fig. 2 shows the schematic diagrames for the marker that one embodiment of the invention provides；
Fig. 3 show another embodiment of the present invention provides marker schematic diagram；
Fig. 4 shows the method flow diagram of the localization method of one embodiment of the invention offer；
Fig. 5 shows the schematic diagram of camera coordinates system provided in an embodiment of the present invention；
Fig. 6 shows the schematic diagram of physical coordinates system provided in an embodiment of the present invention；
Fig. 7 show another embodiment of the present invention provides localization method method flow diagram；
Fig. 8 shows the module frame chart of the positioning device of one embodiment of the invention offer；
Fig. 9 show another embodiment of the present invention provides positioning device module frame chart.
Specific embodiment
Below in conjunction with attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Usually exist
The component of the embodiment of the present invention described and illustrated in attached drawing can be arranged and be designed with a variety of different configurations herein.Cause
This, is not intended to limit claimed invention to the detailed description of the embodiment of the present invention provided in the accompanying drawings below
Range, but it is merely representative of selected embodiment of the invention.Based on the embodiment of the present invention, those skilled in the art are not doing
Every other embodiment obtained under the premise of creative work out, shall fall within the protection scope of the present invention.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.Meanwhile of the invention
In description, term " first ", " second " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
Referring to Fig. 1, showing recognition and tracking system provided in an embodiment of the present invention.Recognition and tracking system 10 includes wearing
Display device 100 and visual interactive device.
The visual interactive device includes the first background and is distributed at least one label of the first background according to ad hoc rules
Object.The marker includes the second background and is distributed in several sub- markers of the second background, every height according to ad hoc rules
Marker has one or more features point.Wherein, the first background and the second background have certain discrimination, for example, it may be
First background is black, and the second background is white.In present embodiment, the distribution rule of the sub- marker in each marker is not
Together, therefore, image corresponding to each marker is different.
Sub- marker is to have effigurate pattern, and the second background in the color and marker of the sub- marker has
Certain discrimination, for example, the second background is white, and the color of sub- marker is black.Sub- marker can be by one
Or multiple characteristic points are constituted, and the shape of characteristic point is without limitation, can be dot, annulus, is also possible to triangle, other shapes
Shape.
As an implementation, as shown in Fig. 2, including multiple sub- markers 220 in marker 210, and every height mark
Note object 220 is made of one or more features point 221, and each of Fig. 2 white circular pattern is a characteristic point 221.Label
The profile of object 210 is rectangle, and certainly, the shape of marker is also possible to other shapes, it is not limited here, in Fig. 2, rectangle
Multiple sub- markers in white area and the white area constitute a marker.
As another embodiment, as shown in figure 3, including multiple sub- markers 340 in marker 310, and every height
Marker 340 is made of one or more features point 341；Wherein, multiple black dots constitute a sub- marker 340.Specifically
Ground, in Fig. 3, each white circular pattern and each black dot pattern are characteristic point 341.
Specifically, visual interactive device includes plane marker object and multi-panel mark structure body.The plane marker object packet
The first marking plate 200 and the second marking plate 500 are included, which includes six face mark structure bodies 400 and 26
Face mark structure body 300 can also be the mark structure body of other faces number certainly, numerous to list herein.
Multiple markers are provided on first marking plate 200, the content of multiple markers is different, and the first marking plate
In the same plane, i.e. the first marking plate 200 is equipped with an index face, and all marks for multiple markers setting on 200
Note object is arranged in the index face of the first marking plate 200, and the characteristic point on the first marking plate 200 is in index face；Second
A marker is provided on marking plate 500, the characteristic point on the second marking plate 500 is also entirely in index face second
The quantity of marking plate 500 can be multiple, and the content of the marker of each second marking plate 500 is different, and multiple second
Marking plate 500 can be applied in combination, such as in the application fields such as the corresponding augmented reality of recognition and tracking system 10 or virtual reality
It is applied in combination.
Multi-panel mark structure body includes multiple index faces, and is provided with label in the non-coplanar index face of wherein at least two
Object, as shown in fig. 1, the multi-panel mark structure body include six face mark structure bodies 400 and 26 face mark structure bodies 300,
Wherein, six face mark structure bodies 400 include 6 index faces, and marker are provided in each index face, and on each face
The pattern of marker is different.
And 26 face mark structure bodies 300 include 26 faces, wherein including 17 index faces, and each label
Marker is provided on face, and the pattern of the marker on each face is different.Certainly, above-mentioned multi-panel mark structure body
Total face number and index face description and marker setting, can be arranged according to actual use, it is not limited here.
It should be noted that visual interactive device is not limited to above-mentioned plane marker object and multi-panel mark structure body,
Visual interactive device can be any carrier with marker, and carrier can be arranged according to actual scene, such as peashooter, game
Corresponding marker is arranged on the visual interactives device such as model rifle in the models rifle such as rifle, passes through the mark on identification tracing model rifle
Remember object, position and the rotation information of model rifle can be obtained, user carries out game by holding the model rifle in virtual scene
Operation, realizes the effect of augmented reality.
Head-wearing display device 100 includes shell (not identifying), image collecting device 110, processor 140, display device
120, optical module 130 and lighting device 150.
Wherein, display device 120 and image collecting device 110 are electrically connected with processor；In some embodiments, it shines
Bright device 150 and image collecting device 110 are installed by filter (not identifying) and are covered in shell, which can mistake
The interference lights such as environment light are filtered, if lighting device 150 emits infrared light, then the filter can be the light filtered out outside infrared light
The element of line.
Image collecting device 110 is used to acquire the image of object to be shot and is sent to processor.Specifically, acquisition includes
There is the image of at least one in above-mentioned marking plate or multi-panel mark structure body, and is sent to processor.As an implementation,
The image collecting device 110 is the near infrared imaging camera of monocular.In current embodiment, image collecting device 110 is to use
Infrared receiver mode and be monocular camera, it is not only at low cost, without the outer ginseng between binocular camera, and low in energy consumption, on an equal basis
Frame per second is higher under bandwidth.
Processor 140 is used to export corresponding display content to display device 120 according to image, is also used to visual interactive
The operation of device progress recognition and tracking.
Processor 140 may include the general or specialized microprocessor of any appropriate type, digital signal processor or micro-
Controller.Processor 140, which can be configured as, receives data and/or signal from the various assemblies of system via such as network.Place
Reason device 140 can also handle data and/or signal to determine one or more operating conditions in system.For example, working as processor 140
When applied to head-wearing display device, processor image data according to the pre-stored data generates the image data of virtual world, by it
It is sent to display device and is shown by optical module；Intelligent terminal or meter can also be received by wired or wireless network
The image data of the transmission of calculation machine, according to received image data generate the image of virtual world, carried out by optical module
Display；Recognition and tracking operation can also be carried out according to the image of image acquisition device and determine corresponding in virtual world
It shows content, is sent to display device and is shown by optical module.It is understood that processor 140 does not limit
In being installed in head-wearing display device.
In some embodiments, head-wearing display device 100 further includes the vision mileage camera 160 being arranged on shell,
Wherein, vision mileage camera 160 is electrically connected with processor, which is used to acquire the field of extraneous real scene
Scene image is sent to processor by scape image.When user dresses head-wearing display device 100, processor is according in the vision
The scene image that Cheng Xiangji 160 is acquired obtains the head of user and position and the rotation of real scene according to vision mileage technology
Relationship, specifically, the image sequence that system is obtained by the camera is estimated by feature extraction, characteristic matching and tracking and movement
The processing of meter obtains the variation of specific position and direction, completes navigator fix, and then obtain head-wearing display device and true field
The relative position of scape and rotation relationship；Position and rotation information further according to visual interactive device relative to head-wearing display device,
The relative position between visual interactive device and real scene and rotation relationship can be extrapolated, it is more complicated so as to realize
Interactive form and experience.
Display device 120 will be for that will show that content is shown.In some embodiments, display device can be intelligent terminal
A part, the i.e. display screen of intelligent terminal, such as the display screen of mobile phone and tablet computer.In further embodiments, display dress
It sets and can also be independent display (for example, LED, OLED or LCD) etc., then display device is fixedly mounted on shell at this time.
It should be noted that being provided on shell for installing this when display device 120 is the display screen of intelligent terminal
The mounting structure of intelligent terminal.When in use, intelligent terminal is mounted on shell by mounting structure.Then processor 140 can
To be the processor in intelligent terminal, it is also possible to be independently arranged at the intracorporal processor of shell, and pass through data with intelligent terminal
Line or communication interface electrical connection.In addition, when display device 120 is the display device separated with terminal devices such as intelligent terminals,
It is fixedly mounted on shell.
Optical module 130 is used for the incident light directive predetermined position for issuing the light-emitting surface of display device 120.Wherein,
Predetermined position is the observation position of user's eyes.
Lighting device 150 is used to provide light when acquiring the image of object to be shot for image collecting device 110.Specifically
Ground, the light angle of lighting device 150 and the quantity of lighting device 150, can set according to actual use, so as to be sent out
The illuminating ray penetrated can cover object to be shot.Wherein, lighting device 150 uses infrared light illuminating devices, can issue red
UV light, image collector is set near infrared camera at this time, can receive infrared light.By way of active illumination, improve
The picture quality for the target image that image collecting device 110 acquires, specifically, the quantity of lighting device 150 is unlimited, can be one
It is a, it is also possible to multiple.In some embodiments, lighting device 150 is arranged near image collecting device 110, wherein
It can be multiple lighting devices 150 to be circumferentially arranged near the camera of image collecting device 110.
User is wearing head-wearing display device 100, when into preset virtual scene, when the visual interactive device is in image
Acquisition device 110 within sweep of the eye when, image collecting device 110 collect include the visual interactive device target figure
Picture；Processor 140 gets the target image and relevant information, and operation identifies the visual interactive device and gets the target
Position between marker and image collecting device and rotation relationship in image, and then visual interactive device is obtained relative to head
Position and the rotation relationship of display device are worn, so that the virtual scene that user watches is on corresponding position and rotation angle；
The new virtual image that user can also further be generated in virtual scene by the combination of multiple visual interactive devices, gives
User brings better experience effect；User can also realize the interaction with virtual scene by visual interactive device；In addition, should
Identify that tracing system can also obtain position and the rotation relationship of head-wearing display device and real scene by vision mileage camera,
And then position and the rotation relationship of available visual interactive device and real scene, when virtual scene and real scene have centainly
Corresponding relationship when, a virtual scene similar with real scene can be constructed, more true augmented reality can be improved
Experience.
For the above-mentioned recognition and tracking system that can be applied in virtual reality system and augmented reality system, the present invention is implemented
Example provide it is a kind of when image capture device collects the characteristic point of visual interactive device in conplane image, to vision
Interactive device carries out the localization method of tracking and positioning, specifically, referring to Fig. 4, a kind of localization method shown.This method application
In recognition and tracking system 10 shown in FIG. 1, using processor as executing subject, this method comprises: S401 to S403.
S401: the target image with visual interactive device of described image acquisition device acquisition, the target figure are obtained
As interior multiple coplanar target feature points including in corresponding visual interactive device.
Wherein, all characteristic points in target image are coplanar, i.e., all characteristic points are located in approximately the same plane.Specifically,
What target image can be image acquisition device includes the image of the index face of above-mentioned plane marker object；Work as acquisition
Image in visual interactive device when including multi-panel mark structure body, target image can also be to include only to collect multi-panel
The image of some index face of mark structure body.Target image is image acquisition device with visual interactive device
Image, the interior information including multiple characteristic points of the target image.Wherein, the characteristic point in the target image can be vision friendship
All characteristic points in mutual device, the Partial Feature point being also possible in all characteristic points in visual interactive device.
It is possible to further arbitrarily choose the image of certain amount of characteristic point from all characteristic points in target image
As target feature point, for determining image collecting device (being equivalent to head-wearing display device) and the plane with target feature point
Mark object or image collecting device (being equivalent to head-wearing display device) and the multi-panel mark structure body with target feature point it
Between true position and rotation information.
S402: it obtains pixel of the target feature point in target image in the corresponding image coordinate system of the target image and sits
Mark.
Wherein, the pixel coordinate of the target feature point in target image refers to the position of this feature point in the target image,
The pixel coordinate of each target feature point in the target image can be obtained directly in the image of the corresponding shooting of image capture device
?.For example, as shown in figure 5, I1 is target image, image coordinate system uov, wherein the direction of u by taking the first marking plate as an example
Can be the line direction of the picture element matrix in target image, the direction of v can be the column direction of the picture element matrix in target image,
And the position of the origin o in image coordinate system can choose an angle point of target image, for example, the most upper left corner or the most lower left corner
Point, pixel coordinate of each characteristic point in image coordinate system just can determine as a result,.For example, the characteristic point 221a in Fig. 5
Pixel coordinate be (ua, va)。
S403: the target signature obtained according to the pixel coordinate of the target feature point in the target image and in advance
The corresponding physical coordinates of point, obtain the position between described image acquisition device and the visual interactive device and rotation information.
Wherein, the physical coordinates are that the target feature point obtained in advance is sat in the corresponding physics of the visual interactive device
Coordinate in mark system, the physical coordinates of target feature point are true position of the target feature point on corresponding visual interactive device
It sets.The physical coordinates of each characteristic point can obtain in advance, and specifically, multiple characteristic points and the setting of multiple markers are handed in vision
In the index face of mutual device, some point on selected marker face is used as origin, establishes physical coordinates system.Using index face as object
The XOY plane of coordinate system is managed, the origin of XOY coordinate system is located in index face.
As an implementation, as shown in fig. 6, by taking marking plate is rectangular slab as an example, with the one of the index face of marking plate
A angle point is as origin O, using the length direction of index face as X-axis, using the width direction of index face as Y-axis, perpendicular to index face
Direction be Z axis, establish physical coordinates system, the distance of each characteristic point to X-axis and Y-axis can obtain, thus, it will be able to true
Fixed physical coordinates of each characteristic point in physical coordinates system, for example, the physical coordinates of the characteristic point 221a in Fig. 6 are (Xa, Ya,
Za).Wherein, ZaEqual to 0.
In getting target image after the pixel coordinate and physical coordinates of all target feature points, according to each label
The pixel coordinate and physical coordinates of all target feature points in object obtain between described image acquisition device and the marker
Position and rotation information, specifically, according to the pixel coordinate of each target feature point, physical coordinates and the figure that obtains in advance
As the intrinsic parameter of acquisition device, the mapping parameters between described image coordinate system and the physical coordinates system are obtained.
Specifically, the relationship between image coordinate system and physical coordinates system are as follows:
Wherein, (u, v) is characterized the pixel coordinate a little in the image coordinate system of target image, and (X, Y, Z) is characterized a little
In the physical coordinates of physical coordinates system, then Z is set as 0, the physical coordinates under physical coordinates system are (X, Y, 0).
It is the matrix in a camera matrix or one in parameter, (cx, cy) is the center of image
Point, (fx, fy) are the focal lengths indicated with pixel unit, which can be obtained by the proving operation of image capture device, are
One known quantity.
Wherein,For the matrix of external parameter, first three is classified as rotation parameter, and the 4th is classified as translation
Parameter.DefinitionFor homography matrix H, then above formula (1) becomes:
Therefore, by the pixel coordinate of acquired multiple target feature points and physical coordinates and image collecting device
Intrinsic parameter brings above formula (2) into, it will be able to obtain H, i.e., the mapping ginseng between described image coordinate system and the physical coordinates system
Number.
Further according to the mapping parameters obtain described image acquisition device camera coordinates system and the physical coordinates system it
Between rotation parameter and translation parameters specifically can be according to svd algorithm:
Above-mentioned homography matrix H is done into singular value decomposition, obtains following formula:
H=U Λ VT(3)
Then available two orthogonal matrix U and V and diagonal matrix Λ.Wherein, diagonal matrix Λ includes and singly answers
The singular value of property matrix H.Accordingly it is also possible to above formula (3) can then be write as by this diagonal matrix as homography matrix H:
When matrix H is broken down into diagonal matrix, it will be able to calculate spin matrix R and translation matrix T.Specifically, tΛ
It can be eliminated in three vector equations separated by above-mentioned formula (4), due to RΛIt is an orthogonal matrix, then it can be with
Pass through each parameter in a new equation group linear solution normal vector n, wherein equation group by each parameter in normal vector n with
The singular value of homography matrix H is associated.
By above-mentioned decomposition algorithm, the different solution formula of 8 of available above three unknown quantity, wherein this three are not
The amount of knowing are as follows: { RΛ, tΛ, nΛ}.Then, it is assumed that the decomposition of matrix Λ is completed, then in order to obtain final decomposing element, we are only needed
To use following expression formula:
Place R and T can be solved as a result, wherein camera coordinates system and the physical coordinates of the R for image collecting device
Rotation parameter between system, T are the translation parameters between the camera coordinates system and the physical coordinates system of image collecting device.
Then, using rotation parameter and translation parameters as between image collecting device and the marking plate position and rotation
Information.Wherein, rotation parameter indicates that rotation status namely image collecting device between camera coordinates system and physical coordinates system exist
Rotational freedom in physical coordinates system, with each reference axis of physical coordinates system.Wherein, translation parameters indicate camera coordinates system with
Each coordinate of the moving condition namely image collecting device between physical coordinates system in physical coordinates system, with physical coordinates system
The one-movement-freedom-degree of axis.Then rotation parameter and translation parameters are image capture device six freely believing in physical coordinates system
Breath, can indicate rotation and moving condition of the image capture device in physical coordinates system, can also obtain Image Acquisition and set
The angle and distance etc. between each reference axis in the standby visual field and physical coordinates system.
Referring to Fig. 7, showing a kind of localization method.This method is applied to recognition and tracking system 10 shown in FIG. 1, with place
Device is managed as executing subject, this method comprises: S701 to S705.
S701: the target image with visual interactive device of described image acquisition device acquisition is obtained.
S702: judge in the target image with the presence or absence of the marker for including target feature point.
Since each characteristic point is distributed across in marker, by whether there is marker in detection target image, from
And it can judge in target image collected with the presence or absence of characteristic point.
Judge that the mode in target image with the presence or absence of marker can be, by the image of the marker in target image with
The images match of all markers on pre-stored visual interactive device, if it is possible to be matched to similar or identical mark
Remember object, then determine that there are markers in target image, then enters next step process.If similar or identical mark can not be matched to
Remember object, then determines that there is no markers in target image, then return and continue to execute S701, that is, resurvey target image, until
Determine that there are markers for target image.
Wherein, the determination of the marker in target image, can be by searching for the wheel of target image Internal periphery and marker
The region that all profiles in target image are rectangle is searched, as to be confirmed so that marker is rectangle as an example in wide consistent region
Marker, then by the image of all markers on each marker to be confirmed and pre-stored visual interactive device
Match, if it is possible to be matched to similar or identical marker, then determine that there are markers in target image, otherwise, it is determined that target
Marker is not present in image.
S703: judge whether the quantity of target feature point is greater than or equal to preset value.
The target feature point can be the arbitrary characteristic point in target image, due to will be according to mesh in subsequent step
Six-degree-of-freedom information of the pixel coordinate and physical coordinates acquisition image capture device of mark characteristic point in physical coordinates system, and
During solution, a certain number of target feature points are needed to set up multiple equation groups, therefore, it is necessary to the mesh in target image
The quantity for marking characteristic point is greater than or equal to preset value, wherein and preset value is numerical value set by user, in the embodiment of the present invention,
The preset value is 4.Wherein, it can be distributed across in a marker more than or equal to the target feature point of preset value, it can also be with
It is distributed in multiple markers, as long as the quantity of the characteristic point in target image is greater than or equal to preset value.
S704: it obtains pixel of each target feature point in the corresponding image coordinate system of the target image and sits
Mark.
Specific embodiment can refer to previous embodiment, and details are not described herein.In some embodiments, if image
It is impossible to meet standard is used, i.e. there is distortion, then need to go to distort to the target image in captured image with acquisition device
Processing.
Specifically, distortion is gone to handle the target image, to remove the distortion point in the target image；It will be through abnormal
The target image that target image after change processing is obtained as this obtains each target feature point in the target figure
As the pixel coordinate in corresponding image coordinate system.
Pattern distortion refers to the geometric position of generated image picture elements in imaging process relative to reference system (ground reality
Border position or topographic map) deformation such as extruding, stretching, extension, offset and distortion that occurs, make geometric position, size, shape, the side of image
Position etc. changes.Common distortion includes radial distortion, decentering distortion and thin prism distortion.According to the abnormal of image collecting device
Variable element and distortion model go distortion to handle target image.
S705: coordinate of each target feature point in the corresponding physical coordinates system of visual interactive device is obtained.
In embodiments of the present invention, in order to by the target feature point in target image and the characteristic point phase in physical coordinates system
It is corresponding, it needs by preset mark object model, specifically, according to the pixel coordinate and physical coordinates of the target feature point, obtains
Before taking position and the rotation information between described image acquisition device and the visual interactive device, this method further include: really
Fixed each target feature point model characteristic point corresponding in preset mark object model；Search the preset mark object mould
Physical coordinates of each model characteristic point in the corresponding physical coordinates system of the visual interactive device in type；It will be each described
The physical coordinates of model characteristic point corresponding to target feature point are corresponding in the visual interactive device as the target feature point
Physical coordinates system in physical coordinates.
Preset mark object model can be according to the distribution of each characteristic point on visual interactive device and establish virtual
Visual interactive device, include multiple model characteristic points in the preset mark object model, and each model characteristic point is corresponding
One physical coordinates in the corresponding physical coordinates system of the visual interactive device, for example, it may be having the vertical of a face
Body structure, and model characteristic point distribution is on the same face.In addition, the position of each model characteristic point corresponds to visual interactive dress
The position for the characteristic point set.
After obtaining preset mark object model, determine that each target feature point institute in preset mark object model is right
The model characteristic point answered.Specifically, each target feature point is mapped to the corresponding coordinate of the preset mark object model
In system, to obtain coordinate of each target feature point in the corresponding coordinate system of the preset mark object model.
The coordinate of pixel coordinate of the target feature point in target image coordinate system corresponding with preset mark object model is deposited
The target feature point can be obtained in the corresponding coordinate system of preset mark object model according to the mapping relations in mapping relations
Coordinate value.
S706: according to the pixel coordinate and physical coordinates of all target feature points, described image acquisition device is obtained
Position and rotation information between the visual interactive device.
It should be noted that being the part of detailed description in above-mentioned steps, previous embodiment can refer to, it is no longer superfluous herein
It states.
Referring to Fig. 8, showing a kind of positioning device 800 provided in an embodiment of the present invention, which is applied to shown in Fig. 1
Recognition and tracking system 10 processor, specifically, positioning device 800 includes: first acquisition unit 801, second acquisition unit
802 and processing unit 803.
First acquisition unit 801, the target of the visual interactive device for obtaining the acquisition of described image acquisition device
Image, the interior target image includes multiple coplanar target feature points.
Second acquisition unit 802 is sat for obtaining each target feature point in the corresponding image of the target image
Pixel coordinate in mark system.
Processing unit 803, for what is obtained according to the pixel coordinate of the target feature point in the target image and in advance
The corresponding physical coordinates of the target feature point, obtain the position between described image acquisition device and the visual interactive device
And rotation information, wherein the physical coordinates are that the target feature point obtained in advance is corresponded in the visual interactive device
Physical coordinates system in coordinate.
It is apparent to those skilled in the art that for convenience and simplicity of description, the device of foregoing description
It with the specific work process of unit, can refer to corresponding processes in the foregoing method embodiment, details are not described herein.
Referring to Fig. 9, showing a kind of positioning device 900 provided in an embodiment of the present invention, which is applied to shown in Fig. 1
Recognition and tracking system 10 processor, specifically, positioning device 900 include: first acquisition unit 901, judging unit 902,
Second acquisition unit 903, physical coordinates acquiring unit 904, processing unit 905.
First acquisition unit 901, the target of the visual interactive device for obtaining the acquisition of described image acquisition device
Image, the interior target image includes multiple coplanar target feature points.
Judging unit 902, for judging in the target image with the presence or absence of marker.
Second acquisition unit 903 is sat for obtaining each target feature point in the corresponding image of the target image
Pixel coordinate in mark system.
Specifically, second acquisition unit 903 is used to judge whether the quantity of multiple target feature points is greater than preset value,
If more than pixel coordinate of each target feature point of acquisition in the corresponding image coordinate system of the target image.
Physical coordinates acquiring unit 904, for determining that each target feature point institute in preset mark object model is right
The model characteristic point answered；The each model characteristic point searched in the preset mark object model is corresponding in the visual interactive device
Physical coordinates system in physical coordinates；Using the physical coordinates of model characteristic point corresponding to each target feature point as
Physical coordinates of the target feature point in the corresponding physical coordinates system of the visual interactive device.
Processing unit 905, for what is obtained according to the pixel coordinate of the target feature point in the target image and in advance
The corresponding physical coordinates of the target feature point, obtain the position between described image acquisition device and the visual interactive device
And rotation information, wherein the physical coordinates are that the target feature point obtained in advance is corresponded in the visual interactive device
Physical coordinates system in coordinate.
It is apparent to those skilled in the art that for convenience and simplicity of description, the device of foregoing description
It with the specific work process of unit, can refer to corresponding processes in the foregoing method embodiment, details are not described herein.
In conclusion localization method provided in an embodiment of the present invention, device, recognition and tracking system and computer-readable Jie
Matter, by determining target image after getting the target image of the visual interactive device of image acquisition device
Interior multiple target feature points obtain pixel coordinate of each target feature point in the corresponding image coordinate system of target image,
According to the pixel coordinate and physical coordinates of all target feature points, described image acquisition device and the visual interactive are obtained
Position and rotation information between device just can determine image collecting device and view by the position and rotation information as a result,
Feel that the positional relationship between interactive device, accuracy are higher.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction
The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium ", which can be, any may include, stores, communicates, propagates or pass
Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment
It sets.The more specific example (non-exhaustive list) of computer-readable medium include the following: there is the electricity of one or more wirings
Interconnecting piece (mobile terminal), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other are suitable
Medium, because can then be edited, be interpreted or when necessary with it for example by carrying out optical scanner to paper or other media
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.It, and in another embodiment, can be under well known in the art for example, if realized with hardware
Any one of column technology or their combination are realized: having a logic gates for realizing logic function to data-signal
Discrete logic, with suitable combinational logic gate circuit specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries
It suddenly is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer-readable storage medium
In matter, which when being executed, includes the steps that one or a combination set of embodiment of the method.In addition, in each embodiment of the present invention
In each functional unit can integrate in a processing module, be also possible to each unit and physically exist alone, can also two
A or more than two units are integrated in a module.Above-mentioned integrated module both can take the form of hardware realization, can also
It is realized in the form of using software function module.If the integrated module realized in the form of software function module and as
Independent product when selling or using, also can store in a computer readable storage medium.
Claims (10)
1. a kind of localization method is applied to a recognition and tracking system, the system comprises image collecting device and there are multiple spies
Levy the visual interactive device of point；It is characterized in that, which comprises
Obtain the target image with the visual interactive device of described image acquisition device acquisition, packet in the target image
Include multiple coplanar target feature points in corresponding visual interactive device；
Obtain pixel coordinate of the target feature point in target image in the corresponding image coordinate system of the target image；
The target feature point obtained according to the pixel coordinate of the target feature point in the target image and in advance is corresponding
Physical coordinates obtain the position between described image acquisition device and the visual interactive device and rotation information, wherein described
Physical coordinates are the coordinate of the target feature point that obtains in advance in the corresponding physical coordinates system of the visual interactive device.
2. the method according to claim 1, wherein the target feature point according in the target image
Pixel coordinate and physical coordinates obtain the position between described image acquisition device and the visual interactive device and rotation information
Before, the method also includes:
Determine target feature point model characteristic point corresponding in preset mark object model；
The model characteristic point in the preset mark object model is searched in the corresponding physical coordinates system of the visual interactive device
Physical coordinates；
It is handed over using the physical coordinates of model characteristic point corresponding to the target feature point as the target feature point in the vision
Physical coordinates in the corresponding physical coordinates system of mutual device.
3. according to the method described in claim 2, it is characterized in that, each target feature point of the determination is obtained in advance
Preset mark object model in corresponding model characteristic point, comprising:
The target feature point is mapped in the corresponding coordinate system of the preset mark object model, to obtain the target signature
Coordinate of the point in the corresponding coordinate system of the preset mark object model；
Will be in the corresponding coordinate system of the preset mark object model, the nearest model with the coordinate distance of the target feature point
Characteristic point is as the corresponding model characteristic point of the target feature point.
4. the method according to claim 1, wherein the target feature point according in the target image
Pixel coordinate and the corresponding physical coordinates of the target feature point obtained in advance obtain described image acquisition device and the view
Feel the position between interactive device and rotation information, comprising:
According to the pixel coordinate of the target feature point, physical coordinates and the internal reference of described image acquisition device that obtains in advance
Number obtains the mapping parameters between described image coordinate system and the physical coordinates system；
The rotation between the camera coordinates system and the physical coordinates system of described image acquisition device is obtained according to the mapping parameters
Turn parameter and translation parameters；
The position between described image acquisition device and the visual interactive device is obtained according to the rotation parameter and translation parameters
It sets and rotation information.
5. the method according to claim 1, wherein described obtain the target feature point in the target image
Pixel coordinate in corresponding image coordinate system, comprising:
Judge whether the quantity of multiple target feature points is greater than preset value；
If more than obtaining pixel coordinate of the target feature point in the corresponding image coordinate system of the target image.
6. the method according to requiring 1, which is characterized in that the acquisition target feature point is corresponding in the target image
Image coordinate system in pixel coordinate before, the method also includes:
Distortion is gone to handle the target image, to remove the distortion point in the target image；
Using the target image after being handled through distortion as the target image obtained.
7. a kind of positioning device, applied to the processor of a recognition and tracking system, the system also includes image collecting device and
Visual interactive device with multiple characteristic points；It is characterized in that, described device includes:
First acquisition unit, the target image of the visual interactive device for obtaining the acquisition of described image acquisition device, institute
Stating includes the multiple coplanar target feature points corresponded in visual interactive device in target image；
Second acquisition unit, for obtaining the target feature point in target image in the corresponding image coordinate system of the target image
Pixel coordinate；
Processing unit, the target for obtaining according to the pixel coordinate of the target feature point in the target image and in advance
The corresponding physical coordinates of characteristic point, the position and rotation obtained between described image acquisition device and the visual interactive device are believed
Breath, wherein the physical coordinates are that the target feature point obtained in advance is sat in the corresponding physics of the visual interactive device
Coordinate in mark system.
8. device according to claim 7, which is characterized in that further include physical coordinates acquiring unit, be used for:
Determine target feature point model characteristic point corresponding in preset mark object model；
The model characteristic point in the preset mark object model is searched in the corresponding physical coordinates system of the visual interactive device
Physical coordinates；
It is handed over using the physical coordinates of model characteristic point corresponding to the target feature point as the target feature point in the vision
Physical coordinates in the corresponding physical coordinates system of mutual device.
9. a kind of recognition and tracking system, which is characterized in that the visual interactive including image collecting device and with multiple characteristic points
Device, described image acquisition device are connect with a processor；
Described image acquisition device is used to acquire the target image of the visual interactive device, includes corresponding in the target image
Multiple coplanar target feature points in visual interactive device；
The processor is used for:
Obtain the target image of the visual interactive device of described image acquisition device acquisition；
Obtain pixel coordinate of the target feature point in target image in the corresponding image coordinate system of the target image；
The target feature point obtained according to the pixel coordinate of the target feature point in the target image and in advance is corresponding
Physical coordinates obtain the position between described image acquisition device and the visual interactive device and rotation information, wherein described
Physical coordinates are the coordinate of the target feature point that obtains in advance in the corresponding physical coordinates system of the visual interactive device.
10. a kind of computer-readable medium for the program code that can be performed with processor, which is characterized in that said program code
The processor is set to execute any one of claim 1-6 the method.
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| CN201810119776.3A CN110120099A (en) | 2018-02-06 | 2018-02-06 | Localization method, device, recognition and tracking system and computer-readable medium |
| PCT/CN2019/073578 WO2019154169A1 (en) | 2018-02-06 | 2019-01-29 | Method for tracking interactive apparatus, and storage medium and electronic device |
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